Results 1 
7 of
7
ICOLLIDE: An interactive and exact collision detection system for largescale environments
 In Proc. of ACM Interactive 3D Graphics Conference
, 1995
"... We present an exact and interactive collision detection system, ICOLLIDE, for largescale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects ’ motions can be expressed as a c ..."
Abstract

Cited by 323 (25 self)
 Add to MetaCart
We present an exact and interactive collision detection system, ICOLLIDE, for largescale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects ’ motions can be expressed as a closed form function of time. The collision detection system is general and can be easily interfaced with a variety of applications. The algorithm uses a twolevel approach based on pruning multipleobject pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models. We demonstrate the performance of the system in walkthrough and simulation environments consisting of a large number of moving objects. In particular, the system takes less than l/20 of a second to determine all the collisions and contacts in an environment consisting of more than a 1000 moving polytopes, each consisting of more than 50 faces on an HP9000/750. 1
Fast proximity queries with swept sphere volumes
, 1999
"... We present novel algorithms for fast proximity queries using swept sphere volumes. The set of proximity queries includes collision detection and both exact and approximate separation distance computation. We introduce a new family of bounding volumes that correspond to a core primitive shape grown ..."
Abstract

Cited by 128 (20 self)
 Add to MetaCart
We present novel algorithms for fast proximity queries using swept sphere volumes. The set of proximity queries includes collision detection and both exact and approximate separation distance computation. We introduce a new family of bounding volumes that correspond to a core primitive shape grown outward by some offset. The set of core primitive shapes includes a point, line, and rectangle. This family of bounding volumes provides varying tightness of t to the underlying geometry. Furthermore, we describe efficient and accurate algorithms to perform different queries using these bounding volumes. We present a novel analysis of proximity queries that highlights the relationship between collision detection and distance computation. We also present traversal techniques for accelerating distance queries. These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models. As compared to earlier algorithms based on bounding volume hierarchies for separation distance and approximate distance computation, our algorithms have
Incremental algorithms for collision detection between solid models
 IEEE Transactions on Visualization and Computer Graphics
, 1995
"... solid models ..."
Rapid and Accurate Contact Determination between Spline Models using ShellTrees
, 1998
"... In this paper, we present an efficient algorithm for contact determination between spline models. We make use of a new hierarchy, called ShellTree, that comprises of spherical shells and oriented bounding boxes. Each spherical shell corresponds to a portion of the volume between two concentric spher ..."
Abstract

Cited by 25 (4 self)
 Add to MetaCart
In this paper, we present an efficient algorithm for contact determination between spline models. We make use of a new hierarchy, called ShellTree, that comprises of spherical shells and oriented bounding boxes. Each spherical shell corresponds to a portion of the volume between two concentric spheres. Given large spline models, our algorithm decomposes each surface into Bezier patches as part of preprocessing. At runtime it dynamically computes a tight fitting axisaligned bounding box across each Bezier patch and efficiently checks all such boxes for overlap. Using offline and online techniques for tree construction, our algorithm computes ShellTrees for Bezier patches and performs fast overlap tests between them to detect collisions. The overall approach can trade off runtime performance for reduced memory requirements. We have implemented the algorithm and tested itonlarge models, each composed of hundred ofpatches. Its performance varies with the configurations of the objects. For many complex models composed of hundreds of patches, it can accurately compute the contacts in a few milliseconds.
Efficient and Accurate Interference Detection for Polynomial Deformation
 In Proceedings of Computer Animation
, 1996
"... We present efficient and accurate algorithms for interference detection among objects undergoing polynomial deformation. The scope of our algorithms include physicallybased models undergoing dynamic simulation subject to nonpenetration constraints, variational models, deformable models used in sof ..."
Abstract

Cited by 21 (3 self)
 Add to MetaCart
(Show Context)
We present efficient and accurate algorithms for interference detection among objects undergoing polynomial deformation. The scope of our algorithms include physicallybased models undergoing dynamic simulation subject to nonpenetration constraints, variational models, deformable models used in soft object animation, geometric models including polygonal meshes, parametric surfaces such as Bezier patches and Bsplines, and solid models defined by such surfaces. Our algorithms use axisaligned bounding boxes and convex hulls of the objects to identify the object pairs in close vicinity. They use subdivision, convex hull properties and linear programming to perform surface intersection tests and loop intersection tests. Frametoframe coherence is utilized to achieve incremental computations. The resulting algorithms have been implemented and work well in practice. In particular, we are able to compute all contacts accurately and at interactive speeds for flexible bodies undergoing second...
Efficient Contact Determination Between Geometric Models
 INTERNATIONAL JOURNAL OF COMPUTATIONAL GEOMETRY AND APPLICATIONS
"... The problem of interference detection or contact determination between two or more objects in dynamic environments is fundamental in computer graphics, robotics and computer simulated environments. Most of the earlier work is restricted to either polyhedral models or static environments. In this pap ..."
Abstract

Cited by 11 (3 self)
 Add to MetaCart
(Show Context)
The problem of interference detection or contact determination between two or more objects in dynamic environments is fundamental in computer graphics, robotics and computer simulated environments. Most of the earlier work is restricted to either polyhedral models or static environments. In this paper, we present efficient algorithms for contact determination and interference detection between geometric models undergoing rigid motion. The set of models include polyhedra and surfaces described by algebraic sets or piecewise algebraic functions. The algorithms make use of temporal and spatial coherence between successive instances and their running time is a function of the motion between successive instances. The main characteristics of these algorithms are their simplicity and efficiency. They have been implemented; their performance on many applications indicates their potential for realtime simulations.